Mazda: move to platform config (#31647)

* mazda platform config

* update ref
old-commit-hash: e122f1d749

selfdrive/car/mazda/carcontroller.py

@@ -36,13 +36,13 @@ class CarController(CarControllerBase):
       if self.frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7):
         # Cancel Stock ACC if it's enabled while OP is disengaged
         # Send at a rate of 10hz until we sync with stock ACC state
-        can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.CANCEL))
+        can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.CANCEL))
     else:
       self.brake_counter = 0
       if CC.cruiseControl.resume and self.frame % 5 == 0:
         # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
         # Send Resume button when planner wants car to move
-        can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME))
+        can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.RESUME))
 
     self.apply_steer_last = apply_steer
 
@@ -55,7 +55,7 @@ class CarController(CarControllerBase):
       can_sends.append(mazdacan.create_alert_command(self.packer, CS.cam_laneinfo, ldw, steer_required))
 
     # send steering command
-    can_sends.append(mazdacan.create_steering_control(self.packer, self.CP.carFingerprint,
+    can_sends.append(mazdacan.create_steering_control(self.packer, self.CP,
                                                       self.frame, apply_steer, CS.cam_lkas))
 
     new_actuators = CC.actuators.copy()

selfdrive/car/mazda/carstate.py

@@ -3,7 +3,7 @@ from openpilot.common.conversions import Conversions as CV
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, GEN1
+from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, MazdaFlags
 
 class CarState(CarStateBase):
   def __init__(self, CP):
@@ -116,7 +116,7 @@ class CarState(CarStateBase):
       ("WHEEL_SPEEDS", 100),
     ]
 
-    if CP.carFingerprint in GEN1:
+    if CP.flags & MazdaFlags.GEN1:
       messages += [
         ("ENGINE_DATA", 100),
         ("CRZ_CTRL", 50),
@@ -136,7 +136,7 @@ class CarState(CarStateBase):
   def get_cam_can_parser(CP):
     messages = []
 
-    if CP.carFingerprint in GEN1:
+    if CP.flags & MazdaFlags.GEN1:
       messages += [
         # sig_address, frequency
         ("CAM_LANEINFO", 2),

selfdrive/car/mazda/interface.py

@@ -24,23 +24,6 @@ class CarInterface(CarInterfaceBase):
 
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    if candidate in (CAR.CX5, CAR.CX5_2022):
-      ret.mass = 3655 * CV.LB_TO_KG
-      ret.wheelbase = 2.7
-      ret.steerRatio = 15.5
-    elif candidate in (CAR.CX9, CAR.CX9_2021):
-      ret.mass = 4217 * CV.LB_TO_KG
-      ret.wheelbase = 3.1
-      ret.steerRatio = 17.6
-    elif candidate == CAR.MAZDA3:
-      ret.mass = 2875 * CV.LB_TO_KG
-      ret.wheelbase = 2.7
-      ret.steerRatio = 14.0
-    elif candidate == CAR.MAZDA6:
-      ret.mass = 3443 * CV.LB_TO_KG
-      ret.wheelbase = 2.83
-      ret.steerRatio = 15.5
-
     if candidate not in (CAR.CX5_2022, ):
       ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
 

selfdrive/car/mazda/mazdacan.py

@@ -1,7 +1,7 @@
-from openpilot.selfdrive.car.mazda.values import GEN1, Buttons
+from openpilot.selfdrive.car.mazda.values import Buttons, MazdaFlags
 
 
-def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas):
+def create_steering_control(packer, CP, frame, apply_steer, lkas):
 
   tmp = apply_steer + 2048
 
@@ -45,7 +45,7 @@ def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas):
   csum = csum % 256
 
   values = {}
-  if car_fingerprint in GEN1:
+  if CP.flags & MazdaFlags.GEN1:
     values = {
       "LKAS_REQUEST": apply_steer,
       "CTR": ctr,
@@ -88,12 +88,12 @@ def create_alert_command(packer, cam_msg: dict, ldw: bool, steer_required: bool)
   return packer.make_can_msg("CAM_LANEINFO", 0, values)
 
 
-def create_button_cmd(packer, car_fingerprint, counter, button):
+def create_button_cmd(packer, CP, counter, button):
 
   can = int(button == Buttons.CANCEL)
   res = int(button == Buttons.RESUME)
 
-  if car_fingerprint in GEN1:
+  if CP.flags & MazdaFlags.GEN1:
     values = {
       "CAN_OFF": can,
       "CAN_OFF_INV": (can + 1) % 2,

selfdrive/car/mazda/values.py

@@ -1,8 +1,9 @@
 from dataclasses import dataclass, field
-from enum import StrEnum
+from enum import IntFlag
 
 from cereal import car
-from openpilot.selfdrive.car import dbc_dict
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
@@ -25,29 +26,54 @@ class CarControllerParams:
     pass
 
 
-class CAR(StrEnum):
-  CX5 = "MAZDA CX-5"
-  CX9 = "MAZDA CX-9"
-  MAZDA3 = "MAZDA 3"
-  MAZDA6 = "MAZDA 6"
-  CX9_2021 = "MAZDA CX-9 2021"
-  CX5_2022 = "MAZDA CX-5 2022"
-
-
 @dataclass
 class MazdaCarInfo(CarInfo):
   package: str = "All"
   car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.mazda]))
 
 
-CAR_INFO: dict[str, MazdaCarInfo | list[MazdaCarInfo]] = {
+class MazdaFlags(IntFlag):
-  CAR.CX5: MazdaCarInfo("Mazda CX-5 2017-21"),
+  # Gen 1 hardware: same CAN messages and same camera
-  CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-20"),
+  GEN1 = 1
-  CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"),
+
-  CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017-20"),
+
-  CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4"),
+@dataclass
-  CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022-24"),
+class MazdaPlatformConfig(PlatformConfig):
-}
+  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('mazda_2017', None))
+  flags: int = field(default=MazdaFlags.GEN1)
+
+
+class CAR(Platforms):
+  CX5 = MazdaPlatformConfig(
+    "MAZDA CX-5",
+    MazdaCarInfo("Mazda CX-5 2017-21"),
+    specs=CarSpecs(mass=3655 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.5)
+  )
+  CX9 = MazdaPlatformConfig(
+    "MAZDA CX-9",
+    MazdaCarInfo("Mazda CX-9 2016-20"),
+    specs=CarSpecs(mass=4217 * CV.LB_TO_KG, wheelbase=3.1, steerRatio=17.6)
+  )
+  MAZDA3 = MazdaPlatformConfig(
+    "MAZDA 3",
+    MazdaCarInfo("Mazda 3 2017-18"),
+    specs=CarSpecs(mass=2875 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=14.0)
+  )
+  MAZDA6 = MazdaPlatformConfig(
+    "MAZDA 6",
+    MazdaCarInfo("Mazda 6 2017-20"),
+    specs=CarSpecs(mass=3443 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=15.5)
+  )
+  CX9_2021 = MazdaPlatformConfig(
+    "MAZDA CX-9 2021",
+    MazdaCarInfo("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4"),
+    specs=CX9.specs
+  )
+  CX5_2022 = MazdaPlatformConfig(
+    "MAZDA CX-5 2022",
+    MazdaCarInfo("Mazda CX-5 2022-24"),
+    specs=CX5.specs,
+  )
 
 
 class LKAS_LIMITS:
@@ -76,14 +102,5 @@ FW_QUERY_CONFIG = FwQueryConfig(
 )
 
 
-DBC = {
+CAR_INFO = CAR.create_carinfo_map()
-  CAR.CX5: dbc_dict('mazda_2017', None),
+DBC = CAR.create_dbc_map()
-  CAR.CX9: dbc_dict('mazda_2017', None),
-  CAR.MAZDA3: dbc_dict('mazda_2017', None),
-  CAR.MAZDA6: dbc_dict('mazda_2017', None),
-  CAR.CX9_2021: dbc_dict('mazda_2017', None),
-  CAR.CX5_2022: dbc_dict('mazda_2017', None),
-}
-
-# Gen 1 hardware: same CAN messages and same camera
-GEN1 = {CAR.CX5, CAR.CX9, CAR.CX9_2021, CAR.MAZDA3, CAR.MAZDA6, CAR.CX5_2022}

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-b9d29ac9402cfc04bf3e48867415efa70c144029
+658699a6ba183bd97f161baa29cd4764b6bd2c30